一、运行环境
环境:ubutu18.04+ros:melodic+pcl:1.8+gtsam+metis
环境配置:
- Eigen 3.3.4
- PCL 1.8.1 (1.11不能用)
- ceres 2.0.0
- gtsam 4.0.0
雷达参数:
二、下载编译运行
已修改配置的源码文件,下载catkin_make即可跑通。
https://gitee.com/zhankun3280/lslidar_c16_lego_loam
首先,要注意的是SC-LeGo-LOAM和16线雷神激光雷达源码的版本不一样,源码也可能稍有区别。这里找的是修改之后能跑得通的两个版本。
还要注意雷达的IP,我配置的是192.168.0.200
git clone https://gitee.com/zhankun3280/lslidar_c16_lego_loam
catkin_make
roslaunch lslidar_c16_decoder lslidar_c16.launch --screen
roslaunch lego_loam run.launch
三、lslidar的相关修改
- 首先LeGO-LOAM默认的接受的topic name是velodyne_points,点云的frame_id是velodyne。
- 镭神驱动发布的topic name为lslidar_point_cloud,frame_id为laser_link。
- 这里需要修改一下lslidar_c16.launch文件,remap一下topic name,再修改frame_id为velodyne。
<launch>
<arg name="device_ip" default="192.168.0.200" />
<arg name="msop_port" default="2368" />
<arg name="difop_port" default="2369" />
<arg name="return_mode" default="1" />
<arg name="time_synchronization" default="false" />
<node pkg="lslidar_c16_driver" type="lslidar_c16_driver_node" name="lslidar_c16_driver_node" output="screen">
<param name="device_ip" value="$(arg device_ip)" />
<param name="msop_port" value="$(arg msop_port)" />
<param name="difop_port" value="$(arg difop_port)"/>
<param name="frame_id" value="velodyne"/> <!--laser_link-->
<param name="add_multicast" value="false"/>
<param name="group_ip" value="224.1.1.2"/>
<param name="rpm" value="600"/>
<param name="return_mode" value="$(arg return_mode)"/>
<param name="time_synchronization" value="$(arg time_synchronization)"/>
</node>
<node pkg="lslidar_c16_decoder" type="lslidar_c16_decoder_node" name="lslidar_c16_decoder_node" output="screen">
<param name="calibration_file" value="$(find lslidar_c16_decoder)/params/lslidar_c16_db.yaml" />
<param name="scan_frame_id" value="laser_link"/>
<param name="min_range" value="0.15"/>
<param name="max_range" value="150.0"/>
<param name="cbMethod" value="true"/>
<param name="config_vert" value="true"/>
<param name="print_vert" value="false"/>
<param name="return_mode" value="$(arg return_mode)"/>
<param name="degree_mode" value="2"/>
<param name="config_vert_file" value="false"/>
<param name="distance_unit" value="0.25"/>
<param name="time_synchronization" value="$(arg time_synchronization)"/>
<param name="scan_start_angle" value="0.0"/>
<param name="scan_end_angle" value="36000.0"/>
<param name="scan_num" value="8"/>
<param name="publish_scan" value="false"/>
<remap from="lslidar_point_cloud" to="/velodyne_points" /> <!--add-->
</node>
</launch>
由于镭神C16的驱动中对点云强度的定义是uint8_t类型,LOAM能接收的是float32类型,并且LOAM在运行时是根据采集的点云不停的计算来估计自身位置的,所以如果点云强度不匹配,会出现坐标轴baselink漂移的现象。(注意:由于没有惯导,在LOAM运行时,如果雷达前方出现不规则快速运动的物体,比如拿书快速扫,雷达坐标系都会出现漂移现象,所以建议利用传感器来获取位置信息,这是最稳妥的方法)。
将lslidar_c16/lslidar_c16_decoder/src/rawdata.cc 中的 数据类型修改为 PCL常用的点云处理数据类型 pcl::PointXYZI point 即可 ,修改后注释雷达输出的 ring 和 timestamp的两个话题.
pcl::PointXYZI point;
//VPoint point;
if ((azimuth_corrected_f < scan_start_angle_) || (azimuth_corrected_f > scan_end_angle_)) continue;
if (distance2 > max_distance_ || distance2 < min_distance_) {
point.x = NAN;
point.y = NAN;
point.z = NAN;
point.intensity = 0;
//point.lines = dsr;
pointcloud->at(2 * this->block_num + firing, dsr) = point;
} else {
if (cbMethod_) {
point.x = distance2 * cos_scan_altitude_caliration[dsr] * cos_azimuth +
R1_ * cos(arg_horiz_orginal);
point.y = -distance2 * cos_scan_altitude_caliration[dsr] * sin_azimuth +
R1_ * sin(arg_horiz_orginal);
point.z = distance2 * sin_scan_altitude_caliration[dsr] + 0.426 / 100.f;
} else {
point.x = distance2 * cos_scan_altitude_caliration[dsr] * cos_azimuth;
point.y = -distance2 * cos_scan_altitude_caliration[dsr] * sin_azimuth;
point.z = distance2 * sin_scan_altitude_caliration[dsr];
}
point.intensity = intensity;
//point.lines = dsr;
pointcloud->at(2 * this->block_num + firing, dsr) = point;
四、SC-LeGO-LOAM的相关修改
(1)修改utility.h
extern const bool useCloudRing = false; // if true, ang_res_y and ang_bottom are not used
...
// leishen16
// lslidar_c16
extern const int N_SCAN = 16;
extern const int Horizon_SCAN = 2000;
extern const float ang_res_x = 0.18;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 15.0;
extern const int groundScanInd = 10;
(2)修改imageproject.cpp
void copyPointCloud(const sensor_msgs::PointCloud2ConstPtr& laserCloudMsg){
cloudHeader = laserCloudMsg->header;
// cloudHeader.stamp = ros::Time::now(); // Ouster lidar users may need to uncomment this line
pcl::fromROSMsg(*laserCloudMsg, *laserCloudIn);
// Remove Nan points
std::vector<int> indices;
pcl::removeNaNFromPointCloud(*laserCloudIn, *laserCloudIn, indices);
// have "ring" channel in the cloud
if (useCloudRing == true){
pcl::fromROSMsg(*laserCloudMsg, *laserCloudInRing);
if (laserCloudInRing->is_dense == false) {
ROS_ERROR("Point cloud is not in dense format, please remove NaN points first!");
ros::shutdown();
}
}
}
注释掉cloudHeader.stamp = ros::Time::now()
五、离线建图
# 运行 lego-loam
roslaunch lego_loam run.launch
# 播放 指定的rosbag
rosbag play *.bag --clock --topic /velodyne_points /imu/data
rosbag play *.bag --clock /lslidar_point_cloud:=/velodyne_points
如果没有用到imu,就只订阅雷达话题。虽然 /imu/data 是可选的,但如果提供的话,它可以大大提高估计的准确性。
六、实时在线建图
<param name="/use_sim_time" value="false" />
参考链接:
[1] 镭神16线雷达适配Lego-Loam开源框架
[2] 32线镭神雷达跑LeGO-LOAM:3D 激光SLAM
[3] LeGO-LOAM初探:原理,安装和测试
[4] 搭建实验室3d slam 移动小车 4.1jackal小车+镭神32线激光雷达lego-loam建图